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uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp

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uncrustify 2012-08-16 23:19:22 -07:00 committed by Pat Hickey
parent 662d285f44
commit c8ede643dc
1 changed files with 182 additions and 182 deletions
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42
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -1,17 +1,17 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/* /*
AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer * AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer
Code by Jordi Muñoz and Jose Julio. DIYDrones.com * Code by Jordi Muñoz and Jose Julio. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*
Sensor is conected to I2C port * Sensor is conected to I2C port
Sensor is initialized in Continuos mode (10Hz) * Sensor is initialized in Continuos mode (10Hz)
*
*/ */
// AVR LibC Includes // AVR LibC Includes
#include <math.h> #include <math.h>
@ -105,13 +105,13 @@ bool AP_Compass_HMC5843::read_raw()
/* /*
re-initialise after a IO error * re-initialise after a IO error
*/ */
bool AP_Compass_HMC5843::re_initialise() bool AP_Compass_HMC5843::re_initialise()
{ {
if (! write_register(ConfigRegA, _base_config) || if (!write_register(ConfigRegA, _base_config) ||
! write_register(ConfigRegB, magGain) || !write_register(ConfigRegB, magGain) ||
! write_register(ModeRegister, ContinuousConversion)) !write_register(ModeRegister, ContinuousConversion))
return false; return false;
return true; return true;
} }
@ -131,8 +131,8 @@ AP_Compass_HMC5843::init()
delay(10); delay(10);
// determine if we are using 5843 or 5883L // determine if we are using 5843 or 5883L
if (! write_register(ConfigRegA, SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation) || if (!write_register(ConfigRegA, SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation) ||
! read_register(ConfigRegA, &_base_config)) { !read_register(ConfigRegA, &_base_config)) {
healthy = false; healthy = false;
return false; return false;
} }
@ -160,13 +160,13 @@ AP_Compass_HMC5843::init()
numAttempts++; numAttempts++;
// force positiveBias (compass should return 715 for all channels) // force positiveBias (compass should return 715 for all channels)
if (! write_register(ConfigRegA, PositiveBiasConfig)) if (!write_register(ConfigRegA, PositiveBiasConfig))
continue; // compass not responding on the bus continue; // compass not responding on the bus
delay(50); delay(50);
// set gains // set gains
if (! write_register(ConfigRegB, calibration_gain) || if (!write_register(ConfigRegB, calibration_gain) ||
! write_register(ModeRegister, SingleConversion)) !write_register(ModeRegister, SingleConversion))
continue; continue;
// read values from the compass // read values from the compass